/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file
  Modification: Only some functions are referenced
**/

#pragma once

#include <memory>
#include <string>
#include <unordered_map>
#include <vector>

#include "Obstacle.h"

class PredictionQuerier
{
public:
    PredictionQuerier(const std::vector<const Obstacle *> &obstacles,
                      const std::shared_ptr<std::vector<PathPoint>> &
                          ptr_reference_line);

    virtual ~PredictionQuerier() = default;

    std::vector<const Obstacle *> GetObstacles() const;

    double ProjectVelocityAlongReferenceLine(const std::string &obstacle_id,
                                             const double s,
                                             const double t) const;

private:
    std::unordered_map<std::string, const Obstacle *> id_obstacle_map_;

    std::vector<const Obstacle *> obstacles_;

    std::shared_ptr<std::vector<PathPoint>> ptr_reference_line_;
};
